| Message ID | 20240405080259.1806453-4-paul.elder@ideasonboard.com |
|---|---|
| State | Superseded |
| Headers | show |
| Series |
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| Related | show |
Hi Paul, On Fri, 5 Apr 2024 at 09:03, Paul Elder <paul.elder@ideasonboard.com> wrote: > > Clean up the Pwl class copied from the Raspberry Pi IPA to align it more > with the libcamera style. > > Signed-off-by: Paul Elder <paul.elder@ideasonboard.com> > --- > src/ipa/libipa/pwl.cpp | 135 +++++++++++++++++++++++++++++++++-------- > src/ipa/libipa/pwl.h | 113 ++++++++++++++-------------------- > 2 files changed, 154 insertions(+), 94 deletions(-) > > diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp > index 09f5d65c..58925d83 100644 > --- a/src/ipa/libipa/pwl.cpp > +++ b/src/ipa/libipa/pwl.cpp > @@ -5,13 +5,40 @@ > * pwl.cpp - piecewise linear functions > */ > > +#include "pwl.h" > + > #include <cassert> > #include <cmath> > +#include <sstream> > #include <stdexcept> > > -#include "pwl.h" > +#include <libcamera/geometry.h> > + > +namespace libcamera { > + > +namespace ipa { > > -int Pwl::read(const libcamera::YamlObject ¶ms) > +/* > + * \enum Pwl::PerpType > + * \brief Type of perpendicular found when inverting a piecewise linear function > + * > + * \var None > + * \brief no perpendicular found > + * > + * \var Start > + * \brief start of Pwl is closest point > + * > + * \var End > + * \brief end of Pwl is closest point > + * > + * \var Vertex > + * \brief vertex of Pwl is closest point > + * > + * \var Perpendicular > + * \brief true perpendicular found > + */ > + > +int Pwl::readYaml(const libcamera::YamlObject ¶ms) > { > if (!params.size() || params.size() % 2) > return -EINVAL; > @@ -29,7 +56,7 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > if (!y) > return -EINVAL; > > - points_.push_back(Point(*x, *y)); > + points_.push_back(FPoint(*x, *y)); > } > > return 0; > @@ -38,13 +65,13 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > void Pwl::append(double x, double y, const double eps) > { > if (points_.empty() || points_.back().x + eps < x) > - points_.push_back(Point(x, y)); > + points_.push_back(FPoint(x, y)); > } > > void Pwl::prepend(double x, double y, const double eps) > { > if (points_.empty() || points_.front().x - eps > x) > - points_.insert(points_.begin(), Point(x, y)); > + points_.insert(points_.begin(), FPoint(x, y)); > } > > Pwl::Interval Pwl::domain() const > @@ -65,6 +92,19 @@ bool Pwl::empty() const > return points_.empty(); > } > > +/* > + * \brief Evaluate the piecewise linear function > + * \param[in] x The x value to input into the function > + * \param[inout] spanPtr Initial guess for span > + * \param[in] updateSpan Set to true to update spanPtr > + * > + * Evaluate Pwl, optionally supplying an initial guess for the > + * "span". The "span" may be optionally be updated. If you want to know > + * the "span" value but don't have an initial guess you can set it to > + * -1. > + * > + * \return The result of evaluating the piecewise linear function with input \a x > + */ > double Pwl::eval(double x, int *spanPtr, bool updateSpan) const > { > int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1); > @@ -94,16 +134,22 @@ int Pwl::findSpan(double x, int span) const > return span; > } > > -Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > +/* > + * Find perpendicular closest to xy, starting from span+1 so you can > + * call it repeatedly to check for multiple closest points (set span to > + * -1 on the first call). Also returns "pseudo" perpendiculars; see > + * PerpType enum. > + */ > +Pwl::PerpType Pwl::invert(FPoint const &xy, FPoint &perp, int &span, > const double eps) const > { > assert(span >= -1); > bool prevOffEnd = false; > for (span = span + 1; span < (int)points_.size() - 1; span++) { > - Point spanVec = points_[span + 1] - points_[span]; > + FPoint spanVec = points_[span + 1] - points_[span]; > double t = ((xy - points_[span]) % spanVec) / spanVec.len2(); > - if (t < -eps) /* off the start of this span */ > - { > + if (t < -eps) { > + /* off the start of this span */ > if (span == 0) { > perp = points_[span]; > return PerpType::Start; > @@ -111,15 +157,15 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > perp = points_[span]; > return PerpType::Vertex; > } > - } else if (t > 1 + eps) /* off the end of this span */ > - { > + } else if (t > 1 + eps) { > + /* off the end of this span */ > if (span == (int)points_.size() - 2) { > perp = points_[span + 1]; > return PerpType::End; > } > prevOffEnd = true; > - } else /* a true perpendicular */ > - { > + } else { > + /* a true perpendicular */ > perp = points_[span] + spanVec * t; > return PerpType::Perpendicular; > } > @@ -127,25 +173,34 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > return PerpType::None; > } > > +/* > + * \brief Compute the inverse function > + * \param[out] trueInverse True of the resulting inverse is a proper/true inverse > + * \param[in] eps Epsilon (optional) > + * Indicate if it is a proper (true) inverse, or only a best effort (e.g. > + * input was non-monotonic). > + * \return The inverse piecewise linear function > + */ > Pwl Pwl::inverse(bool *trueInverse, const double eps) const > { > bool appended = false, prepended = false, neither = false; > Pwl inverse; > > - for (Point const &p : points_) { > - if (inverse.empty()) > + for (FPoint const &p : points_) { > + if (inverse.empty()) { > inverse.append(p.y, p.x, eps); > - else if (std::abs(inverse.points_.back().x - p.y) <= eps || > - std::abs(inverse.points_.front().x - p.y) <= eps) > + } else if (std::abs(inverse.points_.back().x - p.y) <= eps || > + std::abs(inverse.points_.front().x - p.y) <= eps) { > /* do nothing */; > - else if (p.y > inverse.points_.back().x) { > + } else if (p.y > inverse.points_.back().x) { > inverse.append(p.y, p.x, eps); > appended = true; > } else if (p.y < inverse.points_.front().x) { > inverse.prepend(p.y, p.x, eps); > prepended = true; > - } else > + } else { > neither = true; > + } > } > > /* > @@ -159,18 +214,25 @@ Pwl Pwl::inverse(bool *trueInverse, const double eps) const > return inverse; > } > > +/* > + * \brief Compose two piecewise linear functions together > + * \param[in] other The "other" piecewise linear function > + * \param[in] eps Epsilon (optiona) > + * The "this" function is done first, and "other" after. > + * \return The composed piecewise linear function > + */ > Pwl Pwl::compose(Pwl const &other, const double eps) const > { > double thisX = points_[0].x, thisY = points_[0].y; > int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); > Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } }); > + > while (thisSpan != (int)points_.size() - 1) { > double dx = points_[thisSpan + 1].x - points_[thisSpan].x, > dy = points_[thisSpan + 1].y - points_[thisSpan].y; > if (std::abs(dy) > eps && > otherSpan + 1 < (int)other.points_.size() && > - points_[thisSpan + 1].y >= > - other.points_[otherSpan + 1].x + eps) { > + points_[thisSpan + 1].y >= other.points_[otherSpan + 1].x + eps) { > /* > * next control point in result will be where this > * function's y reaches the next span in other > @@ -204,18 +266,24 @@ Pwl Pwl::compose(Pwl const &other, const double eps) const > return result; > } > > +/* \brief Apply function to (x,y) values at every control point. */ > void Pwl::map(std::function<void(double x, double y)> f) const > { > for (auto &pt : points_) > f(pt.x, pt.y); > } > > +/* > + * \brief Apply function to (x, y0, y1) values wherever either Pwl has a > + * control point. > + */ > void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > std::function<void(double x, double y0, double y1)> f) > { > int span0 = 0, span1 = 0; > double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); > f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); > + > while (span0 < (int)pwl0.points_.size() - 1 || > span1 < (int)pwl1.points_.size() - 1) { > if (span0 == (int)pwl0.points_.size() - 1) > @@ -230,6 +298,12 @@ void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > } > } > > +/* > + * \brief Combine two Pwls > + * > + * Create a new Pwl where the y values are given by running f wherever either > + * has a knot. > + */ > Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > std::function<double(double x, double y0, double y1)> f, > const double eps) > @@ -241,6 +315,11 @@ Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > return result; > } > > +/* > + * \brief Make "this" match (at least) the given domain. > + * > + * Any extension my be clipped or linear. > + */ > void Pwl::matchDomain(Interval const &domain, bool clip, const double eps) > { > int span = 0; > @@ -258,10 +337,16 @@ Pwl &Pwl::operator*=(double d) > return *this; > } > > -void Pwl::debug(FILE *fp) const > +std::string Pwl::toString() const > { > - fprintf(fp, "Pwl {\n"); > + std::stringstream ss; > + ss << "Pwl { "; > for (auto &p : points_) > - fprintf(fp, "\t(%g, %g)\n", p.x, p.y); > - fprintf(fp, "}\n"); > + ss << "(" << p.x << ", " << p.y << ") "; > + ss << "}"; > + return ss.str(); > } > + > +} /* namespace ipa */ > + > +} /* namespace libcamera */ > diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h > index 7a6a6452..ef49e302 100644 > --- a/src/ipa/libipa/pwl.h > +++ b/src/ipa/libipa/pwl.h > @@ -8,116 +8,91 @@ > > #include <functional> > #include <math.h> > +#include <string> > #include <vector> > > +#include <libcamera/geometry.h> > + > #include "libcamera/internal/yaml_parser.h" > > +namespace libcamera { > + > +namespace ipa { > + > class Pwl > { > public: > + enum class PerpType { > + None, > + Start, > + End, > + Vertex, > + Perpendicular, > + }; > + > struct Interval { > Interval(double _start, double _end) > - : start(_start), end(_end) > - { > - } > - double start, end; > + : start(_start), end(_end) {} > + > bool contains(double value) > { > return value >= start && value <= end; > } > - double clip(double value) > + > + double clamp(double value) Typically clamp implies a min/max range value. Since we are only using a singular value here, IMO this should still be called clip. Thanks, Naush > { > return value < start ? start > : (value > end ? end : value); > } > + > double len() const { return end - start; } > + > + double start, end; > }; > - struct Point { > - Point() : x(0), y(0) {} > - Point(double _x, double _y) > - : x(_x), y(_y) {} > - double x, y; > - Point operator-(Point const &p) const > - { > - return Point(x - p.x, y - p.y); > - } > - Point operator+(Point const &p) const > - { > - return Point(x + p.x, y + p.y); > - } > - double operator%(Point const &p) const > - { > - return x * p.x + y * p.y; > - } > - Point operator*(double f) const { return Point(x * f, y * f); } > - Point operator/(double f) const { return Point(x / f, y / f); } > - double len2() const { return x * x + y * y; } > - double len() const { return sqrt(len2()); } > - }; > + > Pwl() {} > - Pwl(std::vector<Point> const &points) : points_(points) {} > - int read(const libcamera::YamlObject ¶ms); > + Pwl(std::vector<FPoint> const &points) > + : points_(points) {} > + int readYaml(const libcamera::YamlObject ¶ms); > + > void append(double x, double y, const double eps = 1e-6); > void prepend(double x, double y, const double eps = 1e-6); > + > Interval domain() const; > Interval range() const; > + > bool empty() const; > - /* > - * Evaluate Pwl, optionally supplying an initial guess for the > - * "span". The "span" may be optionally be updated. If you want to know > - * the "span" value but don't have an initial guess you can set it to > - * -1. > - */ > + > double eval(double x, int *spanPtr = nullptr, > bool updateSpan = true) const; > - /* > - * Find perpendicular closest to xy, starting from span+1 so you can > - * call it repeatedly to check for multiple closest points (set span to > - * -1 on the first call). Also returns "pseudo" perpendiculars; see > - * PerpType enum. > - */ > - enum class PerpType { > - None, /* no perpendicular found */ > - Start, /* start of Pwl is closest point */ > - End, /* end of Pwl is closest point */ > - Vertex, /* vertex of Pwl is closest point */ > - Perpendicular /* true perpendicular found */ > - }; > - PerpType invert(Point const &xy, Point &perp, int &span, > + > + PerpType invert(FPoint const &xy, FPoint &perp, int &span, > const double eps = 1e-6) const; > - /* > - * Compute the inverse function. Indicate if it is a proper (true) > - * inverse, or only a best effort (e.g. input was non-monotonic). > - */ > Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; > - /* Compose two Pwls together, doing "this" first and "other" after. */ > Pwl compose(Pwl const &other, const double eps = 1e-6) const; > - /* Apply function to (x,y) values at every control point. */ > + > void map(std::function<void(double x, double y)> f) const; > - /* > - * Apply function to (x, y0, y1) values wherever either Pwl has a > - * control point. > - */ > + > static void map2(Pwl const &pwl0, Pwl const &pwl1, > std::function<void(double x, double y0, double y1)> f); > - /* > - * Combine two Pwls, meaning we create a new Pwl where the y values are > - * given by running f wherever either has a knot. > - */ > + > static Pwl > combine(Pwl const &pwl0, Pwl const &pwl1, > std::function<double(double x, double y0, double y1)> f, > const double eps = 1e-6); > - /* > - * Make "this" match (at least) the given domain. Any extension my be > - * clipped or linear. > - */ > + > void matchDomain(Interval const &domain, bool clip = true, > const double eps = 1e-6); > + > Pwl &operator*=(double d); > - void debug(FILE *fp = stdout) const; > + > + std::string toString() const; > > private: > int findSpan(double x, int span) const; > - std::vector<Point> points_; > + std::vector<FPoint> points_; > }; > + > +} /* namespace ipa */ > + > +} /* namespace libcamera */ > -- > 2.39.2 >
Hi Naush, On Fri, Apr 05, 2024 at 10:56:58AM +0100, Naushir Patuck wrote: > Hi Paul, > > On Fri, 5 Apr 2024 at 09:03, Paul Elder <paul.elder@ideasonboard.com> wrote: > > > > Clean up the Pwl class copied from the Raspberry Pi IPA to align it more > > with the libcamera style. > > > > Signed-off-by: Paul Elder <paul.elder@ideasonboard.com> > > --- > > src/ipa/libipa/pwl.cpp | 135 +++++++++++++++++++++++++++++++++-------- > > src/ipa/libipa/pwl.h | 113 ++++++++++++++-------------------- > > 2 files changed, 154 insertions(+), 94 deletions(-) > > > > diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp > > index 09f5d65c..58925d83 100644 > > --- a/src/ipa/libipa/pwl.cpp > > +++ b/src/ipa/libipa/pwl.cpp > > @@ -5,13 +5,40 @@ > > * pwl.cpp - piecewise linear functions > > */ > > > > +#include "pwl.h" > > + > > #include <cassert> > > #include <cmath> > > +#include <sstream> > > #include <stdexcept> > > > > -#include "pwl.h" > > +#include <libcamera/geometry.h> > > + > > +namespace libcamera { > > + > > +namespace ipa { > > > > -int Pwl::read(const libcamera::YamlObject ¶ms) > > +/* > > + * \enum Pwl::PerpType > > + * \brief Type of perpendicular found when inverting a piecewise linear function > > + * > > + * \var None > > + * \brief no perpendicular found > > + * > > + * \var Start > > + * \brief start of Pwl is closest point > > + * > > + * \var End > > + * \brief end of Pwl is closest point > > + * > > + * \var Vertex > > + * \brief vertex of Pwl is closest point > > + * > > + * \var Perpendicular > > + * \brief true perpendicular found > > + */ > > + > > +int Pwl::readYaml(const libcamera::YamlObject ¶ms) > > { > > if (!params.size() || params.size() % 2) > > return -EINVAL; > > @@ -29,7 +56,7 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > > if (!y) > > return -EINVAL; > > > > - points_.push_back(Point(*x, *y)); > > + points_.push_back(FPoint(*x, *y)); > > } > > > > return 0; > > @@ -38,13 +65,13 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > > void Pwl::append(double x, double y, const double eps) > > { > > if (points_.empty() || points_.back().x + eps < x) > > - points_.push_back(Point(x, y)); > > + points_.push_back(FPoint(x, y)); > > } > > > > void Pwl::prepend(double x, double y, const double eps) > > { > > if (points_.empty() || points_.front().x - eps > x) > > - points_.insert(points_.begin(), Point(x, y)); > > + points_.insert(points_.begin(), FPoint(x, y)); > > } > > > > Pwl::Interval Pwl::domain() const > > @@ -65,6 +92,19 @@ bool Pwl::empty() const > > return points_.empty(); > > } > > > > +/* > > + * \brief Evaluate the piecewise linear function > > + * \param[in] x The x value to input into the function > > + * \param[inout] spanPtr Initial guess for span > > + * \param[in] updateSpan Set to true to update spanPtr > > + * > > + * Evaluate Pwl, optionally supplying an initial guess for the > > + * "span". The "span" may be optionally be updated. If you want to know > > + * the "span" value but don't have an initial guess you can set it to > > + * -1. > > + * > > + * \return The result of evaluating the piecewise linear function with input \a x > > + */ > > double Pwl::eval(double x, int *spanPtr, bool updateSpan) const > > { > > int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1); > > @@ -94,16 +134,22 @@ int Pwl::findSpan(double x, int span) const > > return span; > > } > > > > -Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > > +/* > > + * Find perpendicular closest to xy, starting from span+1 so you can > > + * call it repeatedly to check for multiple closest points (set span to > > + * -1 on the first call). Also returns "pseudo" perpendiculars; see > > + * PerpType enum. > > + */ > > +Pwl::PerpType Pwl::invert(FPoint const &xy, FPoint &perp, int &span, > > const double eps) const > > { > > assert(span >= -1); > > bool prevOffEnd = false; > > for (span = span + 1; span < (int)points_.size() - 1; span++) { > > - Point spanVec = points_[span + 1] - points_[span]; > > + FPoint spanVec = points_[span + 1] - points_[span]; > > double t = ((xy - points_[span]) % spanVec) / spanVec.len2(); > > - if (t < -eps) /* off the start of this span */ > > - { > > + if (t < -eps) { > > + /* off the start of this span */ > > if (span == 0) { > > perp = points_[span]; > > return PerpType::Start; > > @@ -111,15 +157,15 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > > perp = points_[span]; > > return PerpType::Vertex; > > } > > - } else if (t > 1 + eps) /* off the end of this span */ > > - { > > + } else if (t > 1 + eps) { > > + /* off the end of this span */ > > if (span == (int)points_.size() - 2) { > > perp = points_[span + 1]; > > return PerpType::End; > > } > > prevOffEnd = true; > > - } else /* a true perpendicular */ > > - { > > + } else { > > + /* a true perpendicular */ > > perp = points_[span] + spanVec * t; > > return PerpType::Perpendicular; > > } > > @@ -127,25 +173,34 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > > return PerpType::None; > > } > > > > +/* > > + * \brief Compute the inverse function > > + * \param[out] trueInverse True of the resulting inverse is a proper/true inverse > > + * \param[in] eps Epsilon (optional) > > + * Indicate if it is a proper (true) inverse, or only a best effort (e.g. > > + * input was non-monotonic). > > + * \return The inverse piecewise linear function > > + */ > > Pwl Pwl::inverse(bool *trueInverse, const double eps) const > > { > > bool appended = false, prepended = false, neither = false; > > Pwl inverse; > > > > - for (Point const &p : points_) { > > - if (inverse.empty()) > > + for (FPoint const &p : points_) { > > + if (inverse.empty()) { > > inverse.append(p.y, p.x, eps); > > - else if (std::abs(inverse.points_.back().x - p.y) <= eps || > > - std::abs(inverse.points_.front().x - p.y) <= eps) > > + } else if (std::abs(inverse.points_.back().x - p.y) <= eps || > > + std::abs(inverse.points_.front().x - p.y) <= eps) { > > /* do nothing */; > > - else if (p.y > inverse.points_.back().x) { > > + } else if (p.y > inverse.points_.back().x) { > > inverse.append(p.y, p.x, eps); > > appended = true; > > } else if (p.y < inverse.points_.front().x) { > > inverse.prepend(p.y, p.x, eps); > > prepended = true; > > - } else > > + } else { > > neither = true; > > + } > > } > > > > /* > > @@ -159,18 +214,25 @@ Pwl Pwl::inverse(bool *trueInverse, const double eps) const > > return inverse; > > } > > > > +/* > > + * \brief Compose two piecewise linear functions together > > + * \param[in] other The "other" piecewise linear function > > + * \param[in] eps Epsilon (optiona) > > + * The "this" function is done first, and "other" after. > > + * \return The composed piecewise linear function > > + */ > > Pwl Pwl::compose(Pwl const &other, const double eps) const > > { > > double thisX = points_[0].x, thisY = points_[0].y; > > int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); > > Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } }); > > + > > while (thisSpan != (int)points_.size() - 1) { > > double dx = points_[thisSpan + 1].x - points_[thisSpan].x, > > dy = points_[thisSpan + 1].y - points_[thisSpan].y; > > if (std::abs(dy) > eps && > > otherSpan + 1 < (int)other.points_.size() && > > - points_[thisSpan + 1].y >= > > - other.points_[otherSpan + 1].x + eps) { > > + points_[thisSpan + 1].y >= other.points_[otherSpan + 1].x + eps) { > > /* > > * next control point in result will be where this > > * function's y reaches the next span in other > > @@ -204,18 +266,24 @@ Pwl Pwl::compose(Pwl const &other, const double eps) const > > return result; > > } > > > > +/* \brief Apply function to (x,y) values at every control point. */ > > void Pwl::map(std::function<void(double x, double y)> f) const > > { > > for (auto &pt : points_) > > f(pt.x, pt.y); > > } > > > > +/* > > + * \brief Apply function to (x, y0, y1) values wherever either Pwl has a > > + * control point. > > + */ > > void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > > std::function<void(double x, double y0, double y1)> f) > > { > > int span0 = 0, span1 = 0; > > double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); > > f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); > > + > > while (span0 < (int)pwl0.points_.size() - 1 || > > span1 < (int)pwl1.points_.size() - 1) { > > if (span0 == (int)pwl0.points_.size() - 1) > > @@ -230,6 +298,12 @@ void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > > } > > } > > > > +/* > > + * \brief Combine two Pwls > > + * > > + * Create a new Pwl where the y values are given by running f wherever either > > + * has a knot. > > + */ > > Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > > std::function<double(double x, double y0, double y1)> f, > > const double eps) > > @@ -241,6 +315,11 @@ Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > > return result; > > } > > > > +/* > > + * \brief Make "this" match (at least) the given domain. > > + * > > + * Any extension my be clipped or linear. > > + */ > > void Pwl::matchDomain(Interval const &domain, bool clip, const double eps) > > { > > int span = 0; > > @@ -258,10 +337,16 @@ Pwl &Pwl::operator*=(double d) > > return *this; > > } > > > > -void Pwl::debug(FILE *fp) const > > +std::string Pwl::toString() const > > { > > - fprintf(fp, "Pwl {\n"); > > + std::stringstream ss; > > + ss << "Pwl { "; > > for (auto &p : points_) > > - fprintf(fp, "\t(%g, %g)\n", p.x, p.y); > > - fprintf(fp, "}\n"); > > + ss << "(" << p.x << ", " << p.y << ") "; > > + ss << "}"; > > + return ss.str(); > > } > > + > > +} /* namespace ipa */ > > + > > +} /* namespace libcamera */ > > diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h > > index 7a6a6452..ef49e302 100644 > > --- a/src/ipa/libipa/pwl.h > > +++ b/src/ipa/libipa/pwl.h > > @@ -8,116 +8,91 @@ > > > > #include <functional> > > #include <math.h> > > +#include <string> > > #include <vector> > > > > +#include <libcamera/geometry.h> > > + > > #include "libcamera/internal/yaml_parser.h" > > > > +namespace libcamera { > > + > > +namespace ipa { > > + > > class Pwl > > { > > public: > > + enum class PerpType { > > + None, > > + Start, > > + End, > > + Vertex, > > + Perpendicular, > > + }; > > + > > struct Interval { > > Interval(double _start, double _end) > > - : start(_start), end(_end) > > - { > > - } > > - double start, end; > > + : start(_start), end(_end) {} > > + > > bool contains(double value) > > { > > return value >= start && value <= end; > > } > > - double clip(double value) > > + > > + double clamp(double value) > > Typically clamp implies a min/max range value. Since we are only > using a singular value here, IMO this should still be called clip. I was under the impression that the interval itself made up the min and max range values, which is why I changed it to clamp. I started seeing clip used elsewhere too though and I suppose it's not that big of a deal so I'll change it back to clip (except I have patches coming in a few minutes that depend on this so they'll still have clamp). Thanks, Paul > > > > { > > return value < start ? start > > : (value > end ? end : value); > > } > > + > > double len() const { return end - start; } > > + > > + double start, end; > > }; > > - struct Point { > > - Point() : x(0), y(0) {} > > - Point(double _x, double _y) > > - : x(_x), y(_y) {} > > - double x, y; > > - Point operator-(Point const &p) const > > - { > > - return Point(x - p.x, y - p.y); > > - } > > - Point operator+(Point const &p) const > > - { > > - return Point(x + p.x, y + p.y); > > - } > > - double operator%(Point const &p) const > > - { > > - return x * p.x + y * p.y; > > - } > > - Point operator*(double f) const { return Point(x * f, y * f); } > > - Point operator/(double f) const { return Point(x / f, y / f); } > > - double len2() const { return x * x + y * y; } > > - double len() const { return sqrt(len2()); } > > - }; > > + > > Pwl() {} > > - Pwl(std::vector<Point> const &points) : points_(points) {} > > - int read(const libcamera::YamlObject ¶ms); > > + Pwl(std::vector<FPoint> const &points) > > + : points_(points) {} > > + int readYaml(const libcamera::YamlObject ¶ms); > > + > > void append(double x, double y, const double eps = 1e-6); > > void prepend(double x, double y, const double eps = 1e-6); > > + > > Interval domain() const; > > Interval range() const; > > + > > bool empty() const; > > - /* > > - * Evaluate Pwl, optionally supplying an initial guess for the > > - * "span". The "span" may be optionally be updated. If you want to know > > - * the "span" value but don't have an initial guess you can set it to > > - * -1. > > - */ > > + > > double eval(double x, int *spanPtr = nullptr, > > bool updateSpan = true) const; > > - /* > > - * Find perpendicular closest to xy, starting from span+1 so you can > > - * call it repeatedly to check for multiple closest points (set span to > > - * -1 on the first call). Also returns "pseudo" perpendiculars; see > > - * PerpType enum. > > - */ > > - enum class PerpType { > > - None, /* no perpendicular found */ > > - Start, /* start of Pwl is closest point */ > > - End, /* end of Pwl is closest point */ > > - Vertex, /* vertex of Pwl is closest point */ > > - Perpendicular /* true perpendicular found */ > > - }; > > - PerpType invert(Point const &xy, Point &perp, int &span, > > + > > + PerpType invert(FPoint const &xy, FPoint &perp, int &span, > > const double eps = 1e-6) const; > > - /* > > - * Compute the inverse function. Indicate if it is a proper (true) > > - * inverse, or only a best effort (e.g. input was non-monotonic). > > - */ > > Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; > > - /* Compose two Pwls together, doing "this" first and "other" after. */ > > Pwl compose(Pwl const &other, const double eps = 1e-6) const; > > - /* Apply function to (x,y) values at every control point. */ > > + > > void map(std::function<void(double x, double y)> f) const; > > - /* > > - * Apply function to (x, y0, y1) values wherever either Pwl has a > > - * control point. > > - */ > > + > > static void map2(Pwl const &pwl0, Pwl const &pwl1, > > std::function<void(double x, double y0, double y1)> f); > > - /* > > - * Combine two Pwls, meaning we create a new Pwl where the y values are > > - * given by running f wherever either has a knot. > > - */ > > + > > static Pwl > > combine(Pwl const &pwl0, Pwl const &pwl1, > > std::function<double(double x, double y0, double y1)> f, > > const double eps = 1e-6); > > - /* > > - * Make "this" match (at least) the given domain. Any extension my be > > - * clipped or linear. > > - */ > > + > > void matchDomain(Interval const &domain, bool clip = true, > > const double eps = 1e-6); > > + > > Pwl &operator*=(double d); > > - void debug(FILE *fp = stdout) const; > > + > > + std::string toString() const; > > > > private: > > int findSpan(double x, int span) const; > > - std::vector<Point> points_; > > + std::vector<FPoint> points_; > > }; > > + > > +} /* namespace ipa */ > > + > > +} /* namespace libcamera */ > > -- > > 2.39.2 > >
Hi Paul, On Fri, 5 Apr 2024 at 15:37, Paul Elder <paul.elder@ideasonboard.com> wrote: > > Hi Naush, > > On Fri, Apr 05, 2024 at 10:56:58AM +0100, Naushir Patuck wrote: > > Hi Paul, > > > > On Fri, 5 Apr 2024 at 09:03, Paul Elder <paul.elder@ideasonboard.com> wrote: > > > > > > Clean up the Pwl class copied from the Raspberry Pi IPA to align it more > > > with the libcamera style. > > > > > > Signed-off-by: Paul Elder <paul.elder@ideasonboard.com> > > > --- > > > src/ipa/libipa/pwl.cpp | 135 +++++++++++++++++++++++++++++++++-------- > > > src/ipa/libipa/pwl.h | 113 ++++++++++++++-------------------- > > > 2 files changed, 154 insertions(+), 94 deletions(-) > > > > > > diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp > > > index 09f5d65c..58925d83 100644 > > > --- a/src/ipa/libipa/pwl.cpp > > > +++ b/src/ipa/libipa/pwl.cpp > > > @@ -5,13 +5,40 @@ > > > * pwl.cpp - piecewise linear functions > > > */ > > > > > > +#include "pwl.h" > > > + > > > #include <cassert> > > > #include <cmath> > > > +#include <sstream> > > > #include <stdexcept> > > > > > > -#include "pwl.h" > > > +#include <libcamera/geometry.h> > > > + > > > +namespace libcamera { > > > + > > > +namespace ipa { > > > > > > -int Pwl::read(const libcamera::YamlObject ¶ms) > > > +/* > > > + * \enum Pwl::PerpType > > > + * \brief Type of perpendicular found when inverting a piecewise linear function > > > + * > > > + * \var None > > > + * \brief no perpendicular found > > > + * > > > + * \var Start > > > + * \brief start of Pwl is closest point > > > + * > > > + * \var End > > > + * \brief end of Pwl is closest point > > > + * > > > + * \var Vertex > > > + * \brief vertex of Pwl is closest point > > > + * > > > + * \var Perpendicular > > > + * \brief true perpendicular found > > > + */ > > > + > > > +int Pwl::readYaml(const libcamera::YamlObject ¶ms) > > > { > > > if (!params.size() || params.size() % 2) > > > return -EINVAL; > > > @@ -29,7 +56,7 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > > > if (!y) > > > return -EINVAL; > > > > > > - points_.push_back(Point(*x, *y)); > > > + points_.push_back(FPoint(*x, *y)); > > > } > > > > > > return 0; > > > @@ -38,13 +65,13 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > > > void Pwl::append(double x, double y, const double eps) > > > { > > > if (points_.empty() || points_.back().x + eps < x) > > > - points_.push_back(Point(x, y)); > > > + points_.push_back(FPoint(x, y)); > > > } > > > > > > void Pwl::prepend(double x, double y, const double eps) > > > { > > > if (points_.empty() || points_.front().x - eps > x) > > > - points_.insert(points_.begin(), Point(x, y)); > > > + points_.insert(points_.begin(), FPoint(x, y)); > > > } > > > > > > Pwl::Interval Pwl::domain() const > > > @@ -65,6 +92,19 @@ bool Pwl::empty() const > > > return points_.empty(); > > > } > > > > > > +/* > > > + * \brief Evaluate the piecewise linear function > > > + * \param[in] x The x value to input into the function > > > + * \param[inout] spanPtr Initial guess for span > > > + * \param[in] updateSpan Set to true to update spanPtr > > > + * > > > + * Evaluate Pwl, optionally supplying an initial guess for the > > > + * "span". The "span" may be optionally be updated. If you want to know > > > + * the "span" value but don't have an initial guess you can set it to > > > + * -1. > > > + * > > > + * \return The result of evaluating the piecewise linear function with input \a x > > > + */ > > > double Pwl::eval(double x, int *spanPtr, bool updateSpan) const > > > { > > > int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1); > > > @@ -94,16 +134,22 @@ int Pwl::findSpan(double x, int span) const > > > return span; > > > } > > > > > > -Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > > > +/* > > > + * Find perpendicular closest to xy, starting from span+1 so you can > > > + * call it repeatedly to check for multiple closest points (set span to > > > + * -1 on the first call). Also returns "pseudo" perpendiculars; see > > > + * PerpType enum. > > > + */ > > > +Pwl::PerpType Pwl::invert(FPoint const &xy, FPoint &perp, int &span, > > > const double eps) const > > > { > > > assert(span >= -1); > > > bool prevOffEnd = false; > > > for (span = span + 1; span < (int)points_.size() - 1; span++) { > > > - Point spanVec = points_[span + 1] - points_[span]; > > > + FPoint spanVec = points_[span + 1] - points_[span]; > > > double t = ((xy - points_[span]) % spanVec) / spanVec.len2(); > > > - if (t < -eps) /* off the start of this span */ > > > - { > > > + if (t < -eps) { > > > + /* off the start of this span */ > > > if (span == 0) { > > > perp = points_[span]; > > > return PerpType::Start; > > > @@ -111,15 +157,15 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > > > perp = points_[span]; > > > return PerpType::Vertex; > > > } > > > - } else if (t > 1 + eps) /* off the end of this span */ > > > - { > > > + } else if (t > 1 + eps) { > > > + /* off the end of this span */ > > > if (span == (int)points_.size() - 2) { > > > perp = points_[span + 1]; > > > return PerpType::End; > > > } > > > prevOffEnd = true; > > > - } else /* a true perpendicular */ > > > - { > > > + } else { > > > + /* a true perpendicular */ > > > perp = points_[span] + spanVec * t; > > > return PerpType::Perpendicular; > > > } > > > @@ -127,25 +173,34 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > > > return PerpType::None; > > > } > > > > > > +/* > > > + * \brief Compute the inverse function > > > + * \param[out] trueInverse True of the resulting inverse is a proper/true inverse > > > + * \param[in] eps Epsilon (optional) > > > + * Indicate if it is a proper (true) inverse, or only a best effort (e.g. > > > + * input was non-monotonic). > > > + * \return The inverse piecewise linear function > > > + */ > > > Pwl Pwl::inverse(bool *trueInverse, const double eps) const > > > { > > > bool appended = false, prepended = false, neither = false; > > > Pwl inverse; > > > > > > - for (Point const &p : points_) { > > > - if (inverse.empty()) > > > + for (FPoint const &p : points_) { > > > + if (inverse.empty()) { > > > inverse.append(p.y, p.x, eps); > > > - else if (std::abs(inverse.points_.back().x - p.y) <= eps || > > > - std::abs(inverse.points_.front().x - p.y) <= eps) > > > + } else if (std::abs(inverse.points_.back().x - p.y) <= eps || > > > + std::abs(inverse.points_.front().x - p.y) <= eps) { > > > /* do nothing */; > > > - else if (p.y > inverse.points_.back().x) { > > > + } else if (p.y > inverse.points_.back().x) { > > > inverse.append(p.y, p.x, eps); > > > appended = true; > > > } else if (p.y < inverse.points_.front().x) { > > > inverse.prepend(p.y, p.x, eps); > > > prepended = true; > > > - } else > > > + } else { > > > neither = true; > > > + } > > > } > > > > > > /* > > > @@ -159,18 +214,25 @@ Pwl Pwl::inverse(bool *trueInverse, const double eps) const > > > return inverse; > > > } > > > > > > +/* > > > + * \brief Compose two piecewise linear functions together > > > + * \param[in] other The "other" piecewise linear function > > > + * \param[in] eps Epsilon (optiona) > > > + * The "this" function is done first, and "other" after. > > > + * \return The composed piecewise linear function > > > + */ > > > Pwl Pwl::compose(Pwl const &other, const double eps) const > > > { > > > double thisX = points_[0].x, thisY = points_[0].y; > > > int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); > > > Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } }); > > > + > > > while (thisSpan != (int)points_.size() - 1) { > > > double dx = points_[thisSpan + 1].x - points_[thisSpan].x, > > > dy = points_[thisSpan + 1].y - points_[thisSpan].y; > > > if (std::abs(dy) > eps && > > > otherSpan + 1 < (int)other.points_.size() && > > > - points_[thisSpan + 1].y >= > > > - other.points_[otherSpan + 1].x + eps) { > > > + points_[thisSpan + 1].y >= other.points_[otherSpan + 1].x + eps) { > > > /* > > > * next control point in result will be where this > > > * function's y reaches the next span in other > > > @@ -204,18 +266,24 @@ Pwl Pwl::compose(Pwl const &other, const double eps) const > > > return result; > > > } > > > > > > +/* \brief Apply function to (x,y) values at every control point. */ > > > void Pwl::map(std::function<void(double x, double y)> f) const > > > { > > > for (auto &pt : points_) > > > f(pt.x, pt.y); > > > } > > > > > > +/* > > > + * \brief Apply function to (x, y0, y1) values wherever either Pwl has a > > > + * control point. > > > + */ > > > void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > > > std::function<void(double x, double y0, double y1)> f) > > > { > > > int span0 = 0, span1 = 0; > > > double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); > > > f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); > > > + > > > while (span0 < (int)pwl0.points_.size() - 1 || > > > span1 < (int)pwl1.points_.size() - 1) { > > > if (span0 == (int)pwl0.points_.size() - 1) > > > @@ -230,6 +298,12 @@ void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > > > } > > > } > > > > > > +/* > > > + * \brief Combine two Pwls > > > + * > > > + * Create a new Pwl where the y values are given by running f wherever either > > > + * has a knot. > > > + */ > > > Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > > > std::function<double(double x, double y0, double y1)> f, > > > const double eps) > > > @@ -241,6 +315,11 @@ Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > > > return result; > > > } > > > > > > +/* > > > + * \brief Make "this" match (at least) the given domain. > > > + * > > > + * Any extension my be clipped or linear. > > > + */ > > > void Pwl::matchDomain(Interval const &domain, bool clip, const double eps) > > > { > > > int span = 0; > > > @@ -258,10 +337,16 @@ Pwl &Pwl::operator*=(double d) > > > return *this; > > > } > > > > > > -void Pwl::debug(FILE *fp) const > > > +std::string Pwl::toString() const > > > { > > > - fprintf(fp, "Pwl {\n"); > > > + std::stringstream ss; > > > + ss << "Pwl { "; > > > for (auto &p : points_) > > > - fprintf(fp, "\t(%g, %g)\n", p.x, p.y); > > > - fprintf(fp, "}\n"); > > > + ss << "(" << p.x << ", " << p.y << ") "; > > > + ss << "}"; > > > + return ss.str(); > > > } > > > + > > > +} /* namespace ipa */ > > > + > > > +} /* namespace libcamera */ > > > diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h > > > index 7a6a6452..ef49e302 100644 > > > --- a/src/ipa/libipa/pwl.h > > > +++ b/src/ipa/libipa/pwl.h > > > @@ -8,116 +8,91 @@ > > > > > > #include <functional> > > > #include <math.h> > > > +#include <string> > > > #include <vector> > > > > > > +#include <libcamera/geometry.h> > > > + > > > #include "libcamera/internal/yaml_parser.h" > > > > > > +namespace libcamera { > > > + > > > +namespace ipa { > > > + > > > class Pwl > > > { > > > public: > > > + enum class PerpType { > > > + None, > > > + Start, > > > + End, > > > + Vertex, > > > + Perpendicular, > > > + }; > > > + > > > struct Interval { > > > Interval(double _start, double _end) > > > - : start(_start), end(_end) > > > - { > > > - } > > > - double start, end; > > > + : start(_start), end(_end) {} > > > + > > > bool contains(double value) > > > { > > > return value >= start && value <= end; > > > } > > > - double clip(double value) > > > + > > > + double clamp(double value) > > > > Typically clamp implies a min/max range value. Since we are only > > using a singular value here, IMO this should still be called clip. > > I was under the impression that the interval itself made up the min and max > range values, which is why I changed it to clamp. I started seeing clip > used elsewhere too though and I suppose it's not that big of a deal so > I'll change it back to clip (except I have patches coming in a few > minutes that depend on this so they'll still have clamp). You are right, this is a clamp operation, I just didn't read the code right. I'd be happy to change the clip to clamp like you've already done. Regards, Naush > > > Thanks, > > Paul > > > > > > > > { > > > return value < start ? start > > > : (value > end ? end : value); > > > } > > > + > > > double len() const { return end - start; } > > > + > > > + double start, end; > > > }; > > > - struct Point { > > > - Point() : x(0), y(0) {} > > > - Point(double _x, double _y) > > > - : x(_x), y(_y) {} > > > - double x, y; > > > - Point operator-(Point const &p) const > > > - { > > > - return Point(x - p.x, y - p.y); > > > - } > > > - Point operator+(Point const &p) const > > > - { > > > - return Point(x + p.x, y + p.y); > > > - } > > > - double operator%(Point const &p) const > > > - { > > > - return x * p.x + y * p.y; > > > - } > > > - Point operator*(double f) const { return Point(x * f, y * f); } > > > - Point operator/(double f) const { return Point(x / f, y / f); } > > > - double len2() const { return x * x + y * y; } > > > - double len() const { return sqrt(len2()); } > > > - }; > > > + > > > Pwl() {} > > > - Pwl(std::vector<Point> const &points) : points_(points) {} > > > - int read(const libcamera::YamlObject ¶ms); > > > + Pwl(std::vector<FPoint> const &points) > > > + : points_(points) {} > > > + int readYaml(const libcamera::YamlObject ¶ms); > > > + > > > void append(double x, double y, const double eps = 1e-6); > > > void prepend(double x, double y, const double eps = 1e-6); > > > + > > > Interval domain() const; > > > Interval range() const; > > > + > > > bool empty() const; > > > - /* > > > - * Evaluate Pwl, optionally supplying an initial guess for the > > > - * "span". The "span" may be optionally be updated. If you want to know > > > - * the "span" value but don't have an initial guess you can set it to > > > - * -1. > > > - */ > > > + > > > double eval(double x, int *spanPtr = nullptr, > > > bool updateSpan = true) const; > > > - /* > > > - * Find perpendicular closest to xy, starting from span+1 so you can > > > - * call it repeatedly to check for multiple closest points (set span to > > > - * -1 on the first call). Also returns "pseudo" perpendiculars; see > > > - * PerpType enum. > > > - */ > > > - enum class PerpType { > > > - None, /* no perpendicular found */ > > > - Start, /* start of Pwl is closest point */ > > > - End, /* end of Pwl is closest point */ > > > - Vertex, /* vertex of Pwl is closest point */ > > > - Perpendicular /* true perpendicular found */ > > > - }; > > > - PerpType invert(Point const &xy, Point &perp, int &span, > > > + > > > + PerpType invert(FPoint const &xy, FPoint &perp, int &span, > > > const double eps = 1e-6) const; > > > - /* > > > - * Compute the inverse function. Indicate if it is a proper (true) > > > - * inverse, or only a best effort (e.g. input was non-monotonic). > > > - */ > > > Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; > > > - /* Compose two Pwls together, doing "this" first and "other" after. */ > > > Pwl compose(Pwl const &other, const double eps = 1e-6) const; > > > - /* Apply function to (x,y) values at every control point. */ > > > + > > > void map(std::function<void(double x, double y)> f) const; > > > - /* > > > - * Apply function to (x, y0, y1) values wherever either Pwl has a > > > - * control point. > > > - */ > > > + > > > static void map2(Pwl const &pwl0, Pwl const &pwl1, > > > std::function<void(double x, double y0, double y1)> f); > > > - /* > > > - * Combine two Pwls, meaning we create a new Pwl where the y values are > > > - * given by running f wherever either has a knot. > > > - */ > > > + > > > static Pwl > > > combine(Pwl const &pwl0, Pwl const &pwl1, > > > std::function<double(double x, double y0, double y1)> f, > > > const double eps = 1e-6); > > > - /* > > > - * Make "this" match (at least) the given domain. Any extension my be > > > - * clipped or linear. > > > - */ > > > + > > > void matchDomain(Interval const &domain, bool clip = true, > > > const double eps = 1e-6); > > > + > > > Pwl &operator*=(double d); > > > - void debug(FILE *fp = stdout) const; > > > + > > > + std::string toString() const; > > > > > > private: > > > int findSpan(double x, int span) const; > > > - std::vector<Point> points_; > > > + std::vector<FPoint> points_; > > > }; > > > + > > > +} /* namespace ipa */ > > > + > > > +} /* namespace libcamera */ > > > -- > > > 2.39.2 > > >
Hi Paul, thanks for the patch. On Fri, Apr 05, 2024 at 05:02:58PM +0900, Paul Elder wrote: > Clean up the Pwl class copied from the Raspberry Pi IPA to align it more > with the libcamera style. > > Signed-off-by: Paul Elder <paul.elder@ideasonboard.com> > --- > src/ipa/libipa/pwl.cpp | 135 +++++++++++++++++++++++++++++++++-------- > src/ipa/libipa/pwl.h | 113 ++++++++++++++-------------------- > 2 files changed, 154 insertions(+), 94 deletions(-) > > diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp > index 09f5d65c..58925d83 100644 > --- a/src/ipa/libipa/pwl.cpp > +++ b/src/ipa/libipa/pwl.cpp > @@ -5,13 +5,40 @@ > * pwl.cpp - piecewise linear functions If we are serious with the copyright, this would be the chance to add Ideas on Board :-) > */ > > +#include "pwl.h" > + > #include <cassert> > #include <cmath> > +#include <sstream> > #include <stdexcept> > > -#include "pwl.h" > +#include <libcamera/geometry.h> > + > +namespace libcamera { > + > +namespace ipa { > > -int Pwl::read(const libcamera::YamlObject ¶ms) > +/* > + * \enum Pwl::PerpType > + * \brief Type of perpendicular found when inverting a piecewise linear function > + * > + * \var None > + * \brief no perpendicular found > + * > + * \var Start > + * \brief start of Pwl is closest point > + * > + * \var End > + * \brief end of Pwl is closest point > + * > + * \var Vertex > + * \brief vertex of Pwl is closest point > + * > + * \var Perpendicular > + * \brief true perpendicular found > + */ > + > +int Pwl::readYaml(const libcamera::YamlObject ¶ms) > { > if (!params.size() || params.size() % 2) > return -EINVAL; > @@ -29,7 +56,7 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > if (!y) > return -EINVAL; > > - points_.push_back(Point(*x, *y)); > + points_.push_back(FPoint(*x, *y)); > } > > return 0; > @@ -38,13 +65,13 @@ int Pwl::read(const libcamera::YamlObject ¶ms) > void Pwl::append(double x, double y, const double eps) > { > if (points_.empty() || points_.back().x + eps < x) > - points_.push_back(Point(x, y)); > + points_.push_back(FPoint(x, y)); > } > > void Pwl::prepend(double x, double y, const double eps) > { > if (points_.empty() || points_.front().x - eps > x) > - points_.insert(points_.begin(), Point(x, y)); > + points_.insert(points_.begin(), FPoint(x, y)); > } > > Pwl::Interval Pwl::domain() const > @@ -65,6 +92,19 @@ bool Pwl::empty() const > return points_.empty(); > } > > +/* > + * \brief Evaluate the piecewise linear function > + * \param[in] x The x value to input into the function > + * \param[inout] spanPtr Initial guess for span > + * \param[in] updateSpan Set to true to update spanPtr > + * > + * Evaluate Pwl, optionally supplying an initial guess for the > + * "span". The "span" may be optionally be updated. If you want to know > + * the "span" value but don't have an initial guess you can set it to > + * -1. > + * > + * \return The result of evaluating the piecewise linear function with input \a x Question to the native speakers: How would you phrase that? To me "... evaluate pwl at position x ..." sound more natural. > + */ > double Pwl::eval(double x, int *spanPtr, bool updateSpan) const > { > int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1); > @@ -94,16 +134,22 @@ int Pwl::findSpan(double x, int span) const > return span; > } > > -Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > +/* Docs for the params is missing. > + * Find perpendicular closest to xy, starting from span+1 so you can > + * call it repeatedly to check for multiple closest points (set span to > + * -1 on the first call). Also returns "pseudo" perpendiculars; see > + * PerpType enum. > + */ > +Pwl::PerpType Pwl::invert(FPoint const &xy, FPoint &perp, int &span, > const double eps) const > { > assert(span >= -1); > bool prevOffEnd = false; > for (span = span + 1; span < (int)points_.size() - 1; span++) { > - Point spanVec = points_[span + 1] - points_[span]; > + FPoint spanVec = points_[span + 1] - points_[span]; > double t = ((xy - points_[span]) % spanVec) / spanVec.len2(); > - if (t < -eps) /* off the start of this span */ > - { > + if (t < -eps) { > + /* off the start of this span */ > if (span == 0) { > perp = points_[span]; > return PerpType::Start; > @@ -111,15 +157,15 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > perp = points_[span]; > return PerpType::Vertex; > } > - } else if (t > 1 + eps) /* off the end of this span */ > - { > + } else if (t > 1 + eps) { > + /* off the end of this span */ > if (span == (int)points_.size() - 2) { > perp = points_[span + 1]; > return PerpType::End; > } > prevOffEnd = true; > - } else /* a true perpendicular */ > - { > + } else { > + /* a true perpendicular */ > perp = points_[span] + spanVec * t; > return PerpType::Perpendicular; > } > @@ -127,25 +173,34 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, > return PerpType::None; > } > > +/* > + * \brief Compute the inverse function > + * \param[out] trueInverse True of the resulting inverse is a proper/true inverse s/of/if/ , maybe s/resulting inverse/result/ > + * \param[in] eps Epsilon (optional) > + * Indicate if it is a proper (true) inverse, or only a best effort (e.g. > + * input was non-monotonic). I believe there should be empty lines around the description. > + * \return The inverse piecewise linear function > + */ > Pwl Pwl::inverse(bool *trueInverse, const double eps) const > { > bool appended = false, prepended = false, neither = false; > Pwl inverse; > > - for (Point const &p : points_) { > - if (inverse.empty()) > + for (FPoint const &p : points_) { > + if (inverse.empty()) { > inverse.append(p.y, p.x, eps); > - else if (std::abs(inverse.points_.back().x - p.y) <= eps || > - std::abs(inverse.points_.front().x - p.y) <= eps) > + } else if (std::abs(inverse.points_.back().x - p.y) <= eps || > + std::abs(inverse.points_.front().x - p.y) <= eps) { > /* do nothing */; > - else if (p.y > inverse.points_.back().x) { > + } else if (p.y > inverse.points_.back().x) { > inverse.append(p.y, p.x, eps); > appended = true; > } else if (p.y < inverse.points_.front().x) { > inverse.prepend(p.y, p.x, eps); > prepended = true; > - } else > + } else { > neither = true; > + } > } > > /* > @@ -159,18 +214,25 @@ Pwl Pwl::inverse(bool *trueInverse, const double eps) const > return inverse; > } > > +/* > + * \brief Compose two piecewise linear functions together > + * \param[in] other The "other" piecewise linear function > + * \param[in] eps Epsilon (optiona) empty line > + * The "this" function is done first, and "other" after. empty line > + * \return The composed piecewise linear function > + */ > Pwl Pwl::compose(Pwl const &other, const double eps) const > { > double thisX = points_[0].x, thisY = points_[0].y; > int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); > Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } }); > + > while (thisSpan != (int)points_.size() - 1) { > double dx = points_[thisSpan + 1].x - points_[thisSpan].x, > dy = points_[thisSpan + 1].y - points_[thisSpan].y; > if (std::abs(dy) > eps && > otherSpan + 1 < (int)other.points_.size() && > - points_[thisSpan + 1].y >= > - other.points_[otherSpan + 1].x + eps) { > + points_[thisSpan + 1].y >= other.points_[otherSpan + 1].x + eps) { > /* > * next control point in result will be where this > * function's y reaches the next span in other > @@ -204,18 +266,24 @@ Pwl Pwl::compose(Pwl const &other, const double eps) const > return result; > } > > +/* \brief Apply function to (x,y) values at every control point. */ > void Pwl::map(std::function<void(double x, double y)> f) const > { > for (auto &pt : points_) > f(pt.x, pt.y); > } > > +/* > + * \brief Apply function to (x, y0, y1) values wherever either Pwl has a > + * control point. > + */ > void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > std::function<void(double x, double y0, double y1)> f) > { > int span0 = 0, span1 = 0; > double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); > f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); > + > while (span0 < (int)pwl0.points_.size() - 1 || > span1 < (int)pwl1.points_.size() - 1) { > if (span0 == (int)pwl0.points_.size() - 1) > @@ -230,6 +298,12 @@ void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, > } > } > > +/* > + * \brief Combine two Pwls > + * > + * Create a new Pwl where the y values are given by running f wherever either > + * has a knot. > + */ > Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > std::function<double(double x, double y0, double y1)> f, > const double eps) > @@ -241,6 +315,11 @@ Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, > return result; > } > > +/* > + * \brief Make "this" match (at least) the given domain. > + * Without looking at the source, I would not understand what this function does. > + * Any extension my be clipped or linear. s/my/may/ > + */ > void Pwl::matchDomain(Interval const &domain, bool clip, const double eps) > { > int span = 0; > @@ -258,10 +337,16 @@ Pwl &Pwl::operator*=(double d) > return *this; > } > > -void Pwl::debug(FILE *fp) const > +std::string Pwl::toString() const In similar cases we overload the << operator. Is there any particular reason not to do that here? > { > - fprintf(fp, "Pwl {\n"); > + std::stringstream ss; > + ss << "Pwl { "; > for (auto &p : points_) > - fprintf(fp, "\t(%g, %g)\n", p.x, p.y); > - fprintf(fp, "}\n"); > + ss << "(" << p.x << ", " << p.y << ") "; > + ss << "}"; > + return ss.str(); > } > + > +} /* namespace ipa */ > + > +} /* namespace libcamera */ > diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h > index 7a6a6452..ef49e302 100644 > --- a/src/ipa/libipa/pwl.h > +++ b/src/ipa/libipa/pwl.h > @@ -8,116 +8,91 @@ > > #include <functional> > #include <math.h> > +#include <string> > #include <vector> > > +#include <libcamera/geometry.h> > + > #include "libcamera/internal/yaml_parser.h" > > +namespace libcamera { > + > +namespace ipa { > + > class Pwl > { > public: > + enum class PerpType { > + None, > + Start, > + End, > + Vertex, > + Perpendicular, > + }; > + > struct Interval { > Interval(double _start, double _end) > - : start(_start), end(_end) > - { > - } > - double start, end; > + : start(_start), end(_end) {} > + > bool contains(double value) > { > return value >= start && value <= end; > } > - double clip(double value) > + > + double clamp(double value) > { > return value < start ? start > : (value > end ? end : value); > } > + > double len() const { return end - start; } > + > + double start, end; > }; > - struct Point { > - Point() : x(0), y(0) {} > - Point(double _x, double _y) > - : x(_x), y(_y) {} > - double x, y; > - Point operator-(Point const &p) const > - { > - return Point(x - p.x, y - p.y); > - } > - Point operator+(Point const &p) const > - { > - return Point(x + p.x, y + p.y); > - } > - double operator%(Point const &p) const > - { > - return x * p.x + y * p.y; > - } > - Point operator*(double f) const { return Point(x * f, y * f); } > - Point operator/(double f) const { return Point(x / f, y / f); } > - double len2() const { return x * x + y * y; } > - double len() const { return sqrt(len2()); } > - }; > + > Pwl() {} > - Pwl(std::vector<Point> const &points) : points_(points) {} > - int read(const libcamera::YamlObject ¶ms); > + Pwl(std::vector<FPoint> const &points) > + : points_(points) {} > + int readYaml(const libcamera::YamlObject ¶ms); > + > void append(double x, double y, const double eps = 1e-6); > void prepend(double x, double y, const double eps = 1e-6); > + > Interval domain() const; > Interval range() const; > + > bool empty() const; > - /* > - * Evaluate Pwl, optionally supplying an initial guess for the > - * "span". The "span" may be optionally be updated. If you want to know > - * the "span" value but don't have an initial guess you can set it to > - * -1. > - */ > + > double eval(double x, int *spanPtr = nullptr, > bool updateSpan = true) const; > - /* > - * Find perpendicular closest to xy, starting from span+1 so you can > - * call it repeatedly to check for multiple closest points (set span to > - * -1 on the first call). Also returns "pseudo" perpendiculars; see > - * PerpType enum. > - */ > - enum class PerpType { > - None, /* no perpendicular found */ > - Start, /* start of Pwl is closest point */ > - End, /* end of Pwl is closest point */ > - Vertex, /* vertex of Pwl is closest point */ > - Perpendicular /* true perpendicular found */ > - }; > - PerpType invert(Point const &xy, Point &perp, int &span, > + > + PerpType invert(FPoint const &xy, FPoint &perp, int &span, > const double eps = 1e-6) const; > - /* > - * Compute the inverse function. Indicate if it is a proper (true) > - * inverse, or only a best effort (e.g. input was non-monotonic). > - */ > Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; > - /* Compose two Pwls together, doing "this" first and "other" after. */ > Pwl compose(Pwl const &other, const double eps = 1e-6) const; > - /* Apply function to (x,y) values at every control point. */ > + > void map(std::function<void(double x, double y)> f) const; > - /* > - * Apply function to (x, y0, y1) values wherever either Pwl has a > - * control point. > - */ > + > static void map2(Pwl const &pwl0, Pwl const &pwl1, > std::function<void(double x, double y0, double y1)> f); > - /* > - * Combine two Pwls, meaning we create a new Pwl where the y values are > - * given by running f wherever either has a knot. > - */ > + > static Pwl > combine(Pwl const &pwl0, Pwl const &pwl1, > std::function<double(double x, double y0, double y1)> f, > const double eps = 1e-6); > - /* > - * Make "this" match (at least) the given domain. Any extension my be > - * clipped or linear. > - */ > + > void matchDomain(Interval const &domain, bool clip = true, > const double eps = 1e-6); > + > Pwl &operator*=(double d); > - void debug(FILE *fp = stdout) const; > + > + std::string toString() const; > > private: > int findSpan(double x, int span) const; > - std::vector<Point> points_; > + std::vector<FPoint> points_; > }; > + > +} /* namespace ipa */ > + > +} /* namespace libcamera */ I feel bad to say it, but a few initial tests would be gerat, as it lands in public API :-) Cheers, Stefan > -- > 2.39.2 >
diff --git a/src/ipa/libipa/pwl.cpp b/src/ipa/libipa/pwl.cpp index 09f5d65c..58925d83 100644 --- a/src/ipa/libipa/pwl.cpp +++ b/src/ipa/libipa/pwl.cpp @@ -5,13 +5,40 @@ * pwl.cpp - piecewise linear functions */ +#include "pwl.h" + #include <cassert> #include <cmath> +#include <sstream> #include <stdexcept> -#include "pwl.h" +#include <libcamera/geometry.h> + +namespace libcamera { + +namespace ipa { -int Pwl::read(const libcamera::YamlObject ¶ms) +/* + * \enum Pwl::PerpType + * \brief Type of perpendicular found when inverting a piecewise linear function + * + * \var None + * \brief no perpendicular found + * + * \var Start + * \brief start of Pwl is closest point + * + * \var End + * \brief end of Pwl is closest point + * + * \var Vertex + * \brief vertex of Pwl is closest point + * + * \var Perpendicular + * \brief true perpendicular found + */ + +int Pwl::readYaml(const libcamera::YamlObject ¶ms) { if (!params.size() || params.size() % 2) return -EINVAL; @@ -29,7 +56,7 @@ int Pwl::read(const libcamera::YamlObject ¶ms) if (!y) return -EINVAL; - points_.push_back(Point(*x, *y)); + points_.push_back(FPoint(*x, *y)); } return 0; @@ -38,13 +65,13 @@ int Pwl::read(const libcamera::YamlObject ¶ms) void Pwl::append(double x, double y, const double eps) { if (points_.empty() || points_.back().x + eps < x) - points_.push_back(Point(x, y)); + points_.push_back(FPoint(x, y)); } void Pwl::prepend(double x, double y, const double eps) { if (points_.empty() || points_.front().x - eps > x) - points_.insert(points_.begin(), Point(x, y)); + points_.insert(points_.begin(), FPoint(x, y)); } Pwl::Interval Pwl::domain() const @@ -65,6 +92,19 @@ bool Pwl::empty() const return points_.empty(); } +/* + * \brief Evaluate the piecewise linear function + * \param[in] x The x value to input into the function + * \param[inout] spanPtr Initial guess for span + * \param[in] updateSpan Set to true to update spanPtr + * + * Evaluate Pwl, optionally supplying an initial guess for the + * "span". The "span" may be optionally be updated. If you want to know + * the "span" value but don't have an initial guess you can set it to + * -1. + * + * \return The result of evaluating the piecewise linear function with input \a x + */ double Pwl::eval(double x, int *spanPtr, bool updateSpan) const { int span = findSpan(x, spanPtr && *spanPtr != -1 ? *spanPtr : points_.size() / 2 - 1); @@ -94,16 +134,22 @@ int Pwl::findSpan(double x, int span) const return span; } -Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, +/* + * Find perpendicular closest to xy, starting from span+1 so you can + * call it repeatedly to check for multiple closest points (set span to + * -1 on the first call). Also returns "pseudo" perpendiculars; see + * PerpType enum. + */ +Pwl::PerpType Pwl::invert(FPoint const &xy, FPoint &perp, int &span, const double eps) const { assert(span >= -1); bool prevOffEnd = false; for (span = span + 1; span < (int)points_.size() - 1; span++) { - Point spanVec = points_[span + 1] - points_[span]; + FPoint spanVec = points_[span + 1] - points_[span]; double t = ((xy - points_[span]) % spanVec) / spanVec.len2(); - if (t < -eps) /* off the start of this span */ - { + if (t < -eps) { + /* off the start of this span */ if (span == 0) { perp = points_[span]; return PerpType::Start; @@ -111,15 +157,15 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, perp = points_[span]; return PerpType::Vertex; } - } else if (t > 1 + eps) /* off the end of this span */ - { + } else if (t > 1 + eps) { + /* off the end of this span */ if (span == (int)points_.size() - 2) { perp = points_[span + 1]; return PerpType::End; } prevOffEnd = true; - } else /* a true perpendicular */ - { + } else { + /* a true perpendicular */ perp = points_[span] + spanVec * t; return PerpType::Perpendicular; } @@ -127,25 +173,34 @@ Pwl::PerpType Pwl::invert(Point const &xy, Point &perp, int &span, return PerpType::None; } +/* + * \brief Compute the inverse function + * \param[out] trueInverse True of the resulting inverse is a proper/true inverse + * \param[in] eps Epsilon (optional) + * Indicate if it is a proper (true) inverse, or only a best effort (e.g. + * input was non-monotonic). + * \return The inverse piecewise linear function + */ Pwl Pwl::inverse(bool *trueInverse, const double eps) const { bool appended = false, prepended = false, neither = false; Pwl inverse; - for (Point const &p : points_) { - if (inverse.empty()) + for (FPoint const &p : points_) { + if (inverse.empty()) { inverse.append(p.y, p.x, eps); - else if (std::abs(inverse.points_.back().x - p.y) <= eps || - std::abs(inverse.points_.front().x - p.y) <= eps) + } else if (std::abs(inverse.points_.back().x - p.y) <= eps || + std::abs(inverse.points_.front().x - p.y) <= eps) { /* do nothing */; - else if (p.y > inverse.points_.back().x) { + } else if (p.y > inverse.points_.back().x) { inverse.append(p.y, p.x, eps); appended = true; } else if (p.y < inverse.points_.front().x) { inverse.prepend(p.y, p.x, eps); prepended = true; - } else + } else { neither = true; + } } /* @@ -159,18 +214,25 @@ Pwl Pwl::inverse(bool *trueInverse, const double eps) const return inverse; } +/* + * \brief Compose two piecewise linear functions together + * \param[in] other The "other" piecewise linear function + * \param[in] eps Epsilon (optiona) + * The "this" function is done first, and "other" after. + * \return The composed piecewise linear function + */ Pwl Pwl::compose(Pwl const &other, const double eps) const { double thisX = points_[0].x, thisY = points_[0].y; int thisSpan = 0, otherSpan = other.findSpan(thisY, 0); Pwl result({ { thisX, other.eval(thisY, &otherSpan, false) } }); + while (thisSpan != (int)points_.size() - 1) { double dx = points_[thisSpan + 1].x - points_[thisSpan].x, dy = points_[thisSpan + 1].y - points_[thisSpan].y; if (std::abs(dy) > eps && otherSpan + 1 < (int)other.points_.size() && - points_[thisSpan + 1].y >= - other.points_[otherSpan + 1].x + eps) { + points_[thisSpan + 1].y >= other.points_[otherSpan + 1].x + eps) { /* * next control point in result will be where this * function's y reaches the next span in other @@ -204,18 +266,24 @@ Pwl Pwl::compose(Pwl const &other, const double eps) const return result; } +/* \brief Apply function to (x,y) values at every control point. */ void Pwl::map(std::function<void(double x, double y)> f) const { for (auto &pt : points_) f(pt.x, pt.y); } +/* + * \brief Apply function to (x, y0, y1) values wherever either Pwl has a + * control point. + */ void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, std::function<void(double x, double y0, double y1)> f) { int span0 = 0, span1 = 0; double x = std::min(pwl0.points_[0].x, pwl1.points_[0].x); f(x, pwl0.eval(x, &span0, false), pwl1.eval(x, &span1, false)); + while (span0 < (int)pwl0.points_.size() - 1 || span1 < (int)pwl1.points_.size() - 1) { if (span0 == (int)pwl0.points_.size() - 1) @@ -230,6 +298,12 @@ void Pwl::map2(Pwl const &pwl0, Pwl const &pwl1, } } +/* + * \brief Combine two Pwls + * + * Create a new Pwl where the y values are given by running f wherever either + * has a knot. + */ Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, std::function<double(double x, double y0, double y1)> f, const double eps) @@ -241,6 +315,11 @@ Pwl Pwl::combine(Pwl const &pwl0, Pwl const &pwl1, return result; } +/* + * \brief Make "this" match (at least) the given domain. + * + * Any extension my be clipped or linear. + */ void Pwl::matchDomain(Interval const &domain, bool clip, const double eps) { int span = 0; @@ -258,10 +337,16 @@ Pwl &Pwl::operator*=(double d) return *this; } -void Pwl::debug(FILE *fp) const +std::string Pwl::toString() const { - fprintf(fp, "Pwl {\n"); + std::stringstream ss; + ss << "Pwl { "; for (auto &p : points_) - fprintf(fp, "\t(%g, %g)\n", p.x, p.y); - fprintf(fp, "}\n"); + ss << "(" << p.x << ", " << p.y << ") "; + ss << "}"; + return ss.str(); } + +} /* namespace ipa */ + +} /* namespace libcamera */ diff --git a/src/ipa/libipa/pwl.h b/src/ipa/libipa/pwl.h index 7a6a6452..ef49e302 100644 --- a/src/ipa/libipa/pwl.h +++ b/src/ipa/libipa/pwl.h @@ -8,116 +8,91 @@ #include <functional> #include <math.h> +#include <string> #include <vector> +#include <libcamera/geometry.h> + #include "libcamera/internal/yaml_parser.h" +namespace libcamera { + +namespace ipa { + class Pwl { public: + enum class PerpType { + None, + Start, + End, + Vertex, + Perpendicular, + }; + struct Interval { Interval(double _start, double _end) - : start(_start), end(_end) - { - } - double start, end; + : start(_start), end(_end) {} + bool contains(double value) { return value >= start && value <= end; } - double clip(double value) + + double clamp(double value) { return value < start ? start : (value > end ? end : value); } + double len() const { return end - start; } + + double start, end; }; - struct Point { - Point() : x(0), y(0) {} - Point(double _x, double _y) - : x(_x), y(_y) {} - double x, y; - Point operator-(Point const &p) const - { - return Point(x - p.x, y - p.y); - } - Point operator+(Point const &p) const - { - return Point(x + p.x, y + p.y); - } - double operator%(Point const &p) const - { - return x * p.x + y * p.y; - } - Point operator*(double f) const { return Point(x * f, y * f); } - Point operator/(double f) const { return Point(x / f, y / f); } - double len2() const { return x * x + y * y; } - double len() const { return sqrt(len2()); } - }; + Pwl() {} - Pwl(std::vector<Point> const &points) : points_(points) {} - int read(const libcamera::YamlObject ¶ms); + Pwl(std::vector<FPoint> const &points) + : points_(points) {} + int readYaml(const libcamera::YamlObject ¶ms); + void append(double x, double y, const double eps = 1e-6); void prepend(double x, double y, const double eps = 1e-6); + Interval domain() const; Interval range() const; + bool empty() const; - /* - * Evaluate Pwl, optionally supplying an initial guess for the - * "span". The "span" may be optionally be updated. If you want to know - * the "span" value but don't have an initial guess you can set it to - * -1. - */ + double eval(double x, int *spanPtr = nullptr, bool updateSpan = true) const; - /* - * Find perpendicular closest to xy, starting from span+1 so you can - * call it repeatedly to check for multiple closest points (set span to - * -1 on the first call). Also returns "pseudo" perpendiculars; see - * PerpType enum. - */ - enum class PerpType { - None, /* no perpendicular found */ - Start, /* start of Pwl is closest point */ - End, /* end of Pwl is closest point */ - Vertex, /* vertex of Pwl is closest point */ - Perpendicular /* true perpendicular found */ - }; - PerpType invert(Point const &xy, Point &perp, int &span, + + PerpType invert(FPoint const &xy, FPoint &perp, int &span, const double eps = 1e-6) const; - /* - * Compute the inverse function. Indicate if it is a proper (true) - * inverse, or only a best effort (e.g. input was non-monotonic). - */ Pwl inverse(bool *trueInverse = nullptr, const double eps = 1e-6) const; - /* Compose two Pwls together, doing "this" first and "other" after. */ Pwl compose(Pwl const &other, const double eps = 1e-6) const; - /* Apply function to (x,y) values at every control point. */ + void map(std::function<void(double x, double y)> f) const; - /* - * Apply function to (x, y0, y1) values wherever either Pwl has a - * control point. - */ + static void map2(Pwl const &pwl0, Pwl const &pwl1, std::function<void(double x, double y0, double y1)> f); - /* - * Combine two Pwls, meaning we create a new Pwl where the y values are - * given by running f wherever either has a knot. - */ + static Pwl combine(Pwl const &pwl0, Pwl const &pwl1, std::function<double(double x, double y0, double y1)> f, const double eps = 1e-6); - /* - * Make "this" match (at least) the given domain. Any extension my be - * clipped or linear. - */ + void matchDomain(Interval const &domain, bool clip = true, const double eps = 1e-6); + Pwl &operator*=(double d); - void debug(FILE *fp = stdout) const; + + std::string toString() const; private: int findSpan(double x, int span) const; - std::vector<Point> points_; + std::vector<FPoint> points_; }; + +} /* namespace ipa */ + +} /* namespace libcamera */
Clean up the Pwl class copied from the Raspberry Pi IPA to align it more with the libcamera style. Signed-off-by: Paul Elder <paul.elder@ideasonboard.com> --- src/ipa/libipa/pwl.cpp | 135 +++++++++++++++++++++++++++++++++-------- src/ipa/libipa/pwl.h | 113 ++++++++++++++-------------------- 2 files changed, 154 insertions(+), 94 deletions(-)